#include "robot.h"
#include <bits/stdc++.h>
using namespace std;
#define pb push_back
#define sz(a) (int)a.size()
#define all(a) begin(a),end(a)
using ll = long long;
using vi = vector<int>;
using vll = vector<ll>;
// 0 = unvisited (white)
// 1 = final visit (yellow)
// 2 = temp. visit (blue)
// 3 = blocked (red)
int boundary = -2;
int white = 0, yellow = 1, blue = 2, red = 3;
string dir = "WSENHT";
int i, j, k, l, m;
char get_dir(int col, vector<int> subset={1,2,3,4}){
int pos = 4;
for(int cur = 0; cur < sz(subset); cur++){
auto u = subset[cur];
if(u==1 and j==col) pos=0;
else if(u==2 and k==col) pos=1;
else if(u==3 and l==col) pos=2;
else if(u==4 and m==col) pos=3;
}
return dir[pos];
}
bool exists_neighbour(int col, vector<int> subset={1,2,3,4}){
for(int cur = 0; cur < sz(subset); cur++){
auto u = subset[cur];
if(u==1 and j==col) return true;
if(u==2 and k==col) return true;
if(u==3 and l==col) return true;
if(u==4 and m==col) return true;
}
return false;
}
void program_pulibot()
{
for(i = 0; i <= 0; i++){
for(j = -2; j <= 3; j++){
for(k = -2; k <= 3; k++){
for(l = -2; l <= 3; l++){
for(m = -2; m <= 3; m++){
if(k==boundary and l==boundary){
// final location, terminate
set_instruction({i,j,k,l,m},blue,'T');
}
else if(exists_neighbour(white,{2,3})){
// if still in the exploration phase and we can explore down or left:
// go to the next unvisited position, randomly
set_instruction({i,j,k,l,m},blue,get_dir(white,{2,3}));
}
else if(exists_neighbour(blue)){
// no where to go, mark as blocked, backtrack
set_instruction({i,j,k,l,m},red,get_dir(blue));
}
}
}
}
}
}
}
/*
always go down if possible (color with blue)
else always go right if possible (color with blue)
if we eventually reach the end:
on to the next phase, but before we do that, lets submit
else:
it is not possible to move down or right, so backtrack while coloring red and go back to the previous blue
*/
